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Compliant Joints with Remote Centre of Compliance for the Improvement of the Motion Accuracy of a Gantry Stage 具有远程柔顺中心的柔顺关节用于提高龙门台运动精度
Q2 Engineering Pub Date : 2022-05-16 DOI: 10.36897/jme/149902
Pöhlmann Patrick, Peuker Christoph, Merx Marcel, Müller Jens, Ihlenfeldt Steffen
Gantry stages, which consist of two parallel acting servo drives, are commonly used in machine tools. One drawback of this concept is the crosstalk between both drives, when a stiff mechanical coupling is present. This can lead to a limited bandwidth of the position control or to high reaction forces. One way to overcome these issues is the usage of joints to create an additional degree of freedom, which allows the drives to move independently. The design of these joints as compliant elements offers advantages compared to common rolling bearings, such as low friction and the absence of backlash. Another benefit is the variability in the design of the compliant joints allowing for adjustments to the position of each joint’s centre of compliance. Thus, the position of the resulting pivot, and the transfer matrix between the motion of the drives and the motion at the gantry stage’s tool centre point, change as well. This paper addresses the placement of the joint’s centre of compliance in order to improve motion accuracy. For this purpose, joints with modular arranged compliant links have been designed. The characteristics of the joints and their effect on the behaviour of the gantry stage are compared using analytical investigations as well as experimental results.
龙门工作台是机床中常用的一种由两个并联伺服驱动器组成的工作台。这个概念的一个缺点是两个驱动器之间的串扰,当一个僵硬的机械耦合存在。这可能导致有限的带宽的位置控制或高反作用力。克服这些问题的一种方法是使用关节来创造额外的自由度,使驱动器能够独立移动。与普通滚动轴承相比,这些关节作为柔性元件的设计具有低摩擦和无间隙等优点。另一个好处是柔顺关节设计的可变性,允许调整每个关节的柔顺中心位置。因此,由此产生的枢轴的位置,以及驱动器的运动和龙门台工具中心点的运动之间的传递矩阵也发生了变化。本文讨论了关节柔度中心的位置,以提高运动精度。为此,设计了具有模块化布置的柔性连杆的关节。通过分析研究和实验结果,比较了节点的特性及其对龙门台行为的影响。
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引用次数: 0
Potential of Tool Clamping Surfaces in Forming Machines for Cognitive Production 成形机刀具夹紧表面在认知生产中的潜力
Q2 Engineering Pub Date : 2022-05-04 DOI: 10.36897/jme/149414
Mohaned Alaluss, R. Kurth, R. Tehel, M. Wagner, Nico Wagner, S. Ihlenfeldt
High reproducibility of forming processes along with high quality expectations of the resulting formed parts demand cognitive production systems. The prerequisite is process transparency, which can be improved by increased knowledge of interdependencies between forming tool and forming machine that affects the tool clamping interface behavior. Due to the arrangement as surfaces transmitting process forces, their closeness to the forming process, and yet machine inherent, tool clamping interface provide greater potential for intelligent monitoring. This paper presents a holistic analysis of the interdependencies at the tool clamping interface. Here, the elastic deflection behavior of the press table and slide with their related clamping surfaces, the frictional slip behavior between the interacting machine components and the used clamping devices are described on qualitative level and verified by simulative analysis. Based on the results, available sensor systems are assessed regarding the capability to monitor the identified phenomena inline.
成形过程的高再现性以及由此形成的成形零件的高质量期望要求认知生产系统。先决条件是工艺透明度,可以通过增加对影响刀具夹紧界面行为的成形工具和成形机之间相互依存关系的了解来提高工艺透明度。由于作为传递过程力的表面的布置,它们与成形过程的紧密性,以及机器固有的特性,工具夹紧接口为智能监控提供了更大的潜力。本文对刀具夹持界面的相互依赖性进行了全面分析。本文定性地描述了压力机工作台和滑块及其相关夹紧表面的弹性偏转行为,以及相互作用的机器部件和所用夹紧装置之间的摩擦滑移行为,并通过模拟分析进行了验证。基于这些结果,评估了可用的传感器系统在线监测已识别现象的能力。
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引用次数: 3
Accuracy Assessment of Articulated Industrial Robots using the Extended- and the Loaded-Double-Ball-Bar 扩展双球杆和加载双球杆铰接工业机器人精度评估
Q2 Engineering Pub Date : 2022-05-04 DOI: 10.36897/jme/149413
Johann August Marwitz, Theissen Nikolas Alexander, Bassante Monica Katherine Gonzalez, Friedrich Christian, Hellmich Arvid, Archenti Andreas, Ihlenfeldt Steffen
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引用次数: 0
Analysis of Solid and Ionic Surface Reaction Form to Surface Quality when Using Chemical-Mechanical Slurry Polishing 化学机械抛光固体和离子表面反应形式对表面质量的影响分析
Q2 Engineering Pub Date : 2022-05-04 DOI: 10.36897/jme/149496
LeManh Duc, P. Hiếu, N. Mai, T. Trong, Nguyen Quang
POLISHING The process of removing machining residues using chemical-mechanical slurry (CMS) has an important place in the creation of ultra-precise components in optical devices. Based on this feature, this work investigates the efficiency of the CMS polishing process by comparing the surface reaction modes by the ionic and solid reaction modes when polishing the yttrium aluminum garnet (YAG) and sapphire crystal. The study procedures were conducted to clarify the polishing performance corresponding to these two reaction types. The obtained experiments results show that the balance between the mechanical effect process using CMS polishing technology with chemical effect can be achieved with the ionic reaction mode. The results also show that the ionic surface reaction modes give more uniform material removal than the solid reaction on YAG and sapphire crystal surfaces. Therefore, the surface quality when polished by CMS technology with ionic surface reaction modes is better than that of solid surface
抛光使用化学机械浆料(CMS)去除加工残留物的过程在光学器件中制造超精密元件方面具有重要地位。基于这一特点,本工作通过比较离子和固体反应模式在抛光钇铝石榴石(YAG)和蓝宝石晶体时的表面反应模式,研究了CMS抛光工艺的效率。进行研究程序是为了阐明与这两种反应类型相对应的抛光性能。实验结果表明,离子反应模式可以实现CMS抛光技术的机械效应过程与化学效应之间的平衡。结果还表明,离子表面反应模式比YAG和蓝宝石晶体表面的固体反应更均匀地去除材料。因此,采用离子表面反应模式的CMS技术抛光时的表面质量优于固体表面
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引用次数: 2
Optimization of Characteristic Diagram Based Thermal Error Compensation via Load Case Dependent Model Updates 基于特性图的热误差补偿优化——基于负荷工况的模型更新
Q2 Engineering Pub Date : 2022-04-19 DOI: 10.36897/jme/148181
C. Naumann, J. Glänzel, M. Dix, S. Ihlenfeldt, Philipp Klimant
The compensation of thermal errors in machine tools is one of the major challenges in ensuring positioning accuracy during cutting operations. There are numerous methods for both the model-based estimation of the thermal tool center point (TCP) deflection and for controlling the thermal or thermo-elastic behavior of the machine tool. One branch of thermal error estimation uses regression models to map temperature sensors directly onto the TCP-displacement. This can, e.g., be accomplished using linear models, artificial neural networks or characteristic diagrams. One of the main limitations of these models is the poor extrapolation behavior with regard to untrained load cases. This paper presents a new method for updating characteristic diagram based compensation models by combining existing models with new measurements. This allows the optimization of the compensation for serial production load cases without the effort of computing a new model. The new method was validated on a 5-axis machining center.
机床热误差的补偿是确保切削操作过程中定位精度的主要挑战之一。有许多方法用于基于模型的热工具中心点(TCP)偏转的估计和用于控制机床的热或热弹性行为。热误差估计的一个分支使用回归模型将温度传感器直接映射到TCP位移上。这可以例如使用线性模型、人工神经网络或特性图来实现。这些模型的主要局限性之一是未经训练的载荷情况下的外推行为较差。本文提出了一种新的方法,通过将现有的模型与新的测量相结合来更新基于特性图的补偿模型。这允许对串行生产负载情况的补偿进行优化,而无需计算新模型。该方法已在五轴加工中心上得到验证。
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引用次数: 1
Industrial Collaborative Robot Digital Twin integration and Control Using Robot Operating System 基于机器人操作系统的工业协作机器人数字孪生集成与控制
Q2 Engineering Pub Date : 2022-04-18 DOI: 10.36897/jme/148110
Danyil Diachenko, Andriy Partyshev, S. Pizzagalli, Yevhen Bondarenko, T. Otto, V. Kuts
Standardized and universal solutions for industrial robot integration are increasingly urgent requirements for companies looking for machine interconnectivity, and flexibility in creating tailor made manufacturing systems. These solutions must be supported by modular and open-source components able to easily integrate new control methods and advanced Extended Reality (XR) interfaces. Robot Operating System (ROS) has proven to be a reliable standard for industrial robot integration. ROS compatibility software is provided by many producers and allows for the implementation of modular control units by unifying development practices along the same libraries and methods. Digital Twins (DT) of industrial equipment and processes offer a solid base to develop innovative digital tools relying on synchronization between physical and digital entities and to easily setup intuitive XR interfaces for teleoperation and programming. This work presents the integration of the OMRON TM5-9000 collaborative industrial robot into the IVAR laboratory DT system at Tallinn University of Technology. By using Unity3D game engine and developing a ROS package for the specific machine, the digital model of the collaborative robot is integrated into the existing twin. Synchronization with the real counterpart is provided by MQTT protocol while a robot user interface is developed in Unity and provides robot joints visualization and remote control.
工业机器人集成的标准化和通用解决方案对于寻求机器互联性和创建定制制造系统的灵活性的公司来说是越来越迫切的需求。这些解决方案必须得到模块化和开源组件的支持,这些组件能够轻松集成新的控制方法和高级扩展现实(XR)接口。机器人操作系统(ROS)已被证明是工业机器人集成的可靠标准。ROS兼容性软件由许多生产商提供,并允许通过统一开发实践沿着相同的库和方法实现模块化控制单元。工业设备和流程的数字孪生(DT)为开发依赖于物理和数字实体之间同步的创新数字工具提供了坚实的基础,并轻松设置直观的XR接口,用于远程操作和编程。这项工作展示了欧姆龙TM5-9000协作工业机器人与塔林理工大学IVAR实验室DT系统的集成。通过使用Unity3D游戏引擎,针对特定机器开发ROS包,将协作机器人的数字模型集成到现有的孪生机器人中。MQTT协议提供与真实对手的同步,同时在Unity中开发机器人用户界面,提供机器人关节可视化和远程控制。
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引用次数: 4
Knowledge base development for assembly planning using evidence theory. 运用证据理论开发装配计划知识库。
Q2 Engineering Pub Date : 2022-04-18 DOI: 10.36897/jme/149185
I. Kutschenreiter-Praszkiewicz, Marcin Matuszny
This paper presents an approach to assembly planning in the early phase of product development. The product specification, workstation, environment, equipment and tools are not fully known in the early stage of product development. When comparing product variants at this stage there is a lack of data that affects the efficiency of the manufacturing process. It is therefore necessary to apply methods useful in processing incomplete and uncertain data. The main indicator which helps in comparing different product variants is manufacturing time standard. This papier is focused on assembly tool selection which is one of important data influenced assembly time. Based on the proposed algorithm and case study, a tool selection method using a decision tree induced from a training set with reduced uncertainty is presented.
本文提出了一种在产品开发初期进行装配规划的方法。在产品开发初期,对产品规格、工作站、环境、设备、工具等并不完全了解。在此阶段比较产品变体时,缺乏影响制造过程效率的数据。因此,有必要采用有用的方法来处理不完整和不确定的数据。帮助比较不同产品变体的主要指标是制造时间标准。对影响装配时间的重要数据之一——装配工具的选择进行了研究。在此基础上,结合实例研究,提出了一种基于减少不确定性的训练集生成决策树的工具选择方法。
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引用次数: 0
Digitalisation of Supply Chain management system for customer quality service improvement. 数字化供应链管理系统,提高客户服务质量。
Q2 Engineering Pub Date : 2022-04-05 DOI: 10.36897/jme/147803
E. Shevtshenko, Rene Maas, Lea Murumaa, Tatjanja Karaulova, Ibrahim Oluwole Raji, Janek Popell
The main idea of the current research is to apply customer satisfaction level Key Performance Indicators (KPIs) for supply chain reliability improvement. The Supply Chain Operations Reference (SCOR) model-based KPI metrics increase the quality of product/service by monitoring, visualising, and digitalising directly involved processes. In the long run, the solution will ultimately help reduce/eliminate the number of customer reclamations in the supply chain. An industry-oriented performance measurement model based on SCOR can be easily adapted for different sectors. The approach proposed in the current research is based on identifying key factors of supply chain performance of the SCOR model connected with the predictive and diagnostic capability of Bayesian Believe Networks. The difference in performance can be reached via applying the best practices to processes, affecting the performance on a larger scale.
当前研究的主要思想是将客户满意度水平关键绩效指标(KPI)应用于供应链可靠性改进。基于供应链运营参考(SCOR)模型的KPI指标通过监控、可视化和数字化直接涉及的流程来提高产品/服务的质量。从长远来看,该解决方案最终将有助于减少/消除供应链中的客户回收数量。基于SCOR的面向行业的绩效衡量模型可以很容易地适用于不同的部门。当前研究中提出的方法是基于识别SCOR模型的供应链性能的关键因素,并结合贝叶斯置信网络的预测和诊断能力。性能差异可以通过将最佳实践应用于流程来实现,从而在更大范围内影响性能。
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引用次数: 0
Misalignment Detection on Linear Feed Axis with FFT and Statistical Analysis using Motor Current 基于FFT和电机电流统计分析的直线进给轴错位检测
Q2 Engineering Pub Date : 2022-04-05 DOI: 10.36897/jme/147699
Mustafa Demetgül, M. Gu, Hillenbrand Jonas, Yicheng Zhao, P. Gönnheimer, J. Fleischer
CURRENT The linear feed axes are critical subsystems in many production machines and have important responsibilities such as transporting workpieces and tools in the process. Therefore, the component’s working condition is crucial for the production of high-quality products. Because these systems gradually deteriorate, it is necessary to detect these changes and occurring faults with condition monitoring systems. In this study, the motor current of feed axes is monitored for axis misalignment that occurs during or after assembly. We conduct diagnosis with Fast Fourier Transform (FFT) and statistical methods in order to differentiate different misalignment scenarios and operating constraints of the feed axis. Different states are achieved by simulating left and right axis misalignment and operating the table at different speeds and
CURRENT直线进给轴是许多生产机器中的关键子系统,在生产过程中承担着运输工件和工具等重要职责。因此,部件的工作条件对于生产高质量的产品至关重要。由于这些系统逐渐恶化,因此有必要用状态监测系统来检测这些变化和发生的故障。在本研究中,对进给轴的电机电流进行监测,以确定装配过程中或装配后发生的轴错位。我们使用快速傅立叶变换(FFT)和统计方法进行诊断,以区分不同的未对准情况和进给轴的操作约束。通过模拟左右轴未对准并以不同的速度和
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引用次数: 2
Investigation of multilayer coating of EN AW 6060 - T66 using friction surfacing 摩擦堆焊对ena6060 - T66多层涂层的影响
Q2 Engineering Pub Date : 2022-03-26 DOI: 10.36897/jme/147502
S. Krall, C. Baumann, Hemant Agiwal, F. Bleicher, F. Pfefferkorn
The objective of this research is to investigate observable process changes during multi-layer friction surfacing of EN AW 6060 aluminum, whether for repair, remanufacturing, or new part manufacturing. In this study, friction surfacing was performed with a 10-mm-diameter rod of EN AW 6060 aluminum at spindle speeds ranging from 1000 to 7000 rpm to create up to three layers of 40-mm-long deposits on a substrate of the same alloy. The process forces and layer temperatures were observed. Post-process measurement of flash geometry, layer geometry and microhardness were conducted with the motivation to understand the impact of multi-layer depositions on performance and identifying acceptable conditions required to achieve acceptable build quality. The thickness, deposition and joining efficiency of layers in the multilayer configuration remained consistent. Friction surfacing of EN AW 6060 aluminum allowed for high deposition rates of 9 kg/hr, when compared to other metal additive technologies.
本研究的目的是研究ena6060铝合金在多层摩擦表面处理过程中可观察到的工艺变化,无论是用于修复、再制造还是新零件制造。在这项研究中,在主轴转速从1000到7000转/分的范围内,用直径10毫米的EN AW 6060铝棒进行摩擦表面处理,在同一合金的基底上形成多达三层40毫米长的沉积物。观察了工艺力和层温。为了了解多层沉积对性能的影响,并确定实现可接受的构建质量所需的可接受条件,对闪光几何形状、层几何形状和显微硬度进行了后处理测量。在多层结构中,层的厚度、沉积和连接效率保持一致。与其他金属添加剂技术相比,EN AW 6060铝的摩擦表面允许9 kg/hr的高沉积速率。
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引用次数: 3
期刊
Journal of Machine Engineering
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